1.中南大学资源与安全工程学院，湖南 长沙 410083
2.云南锡业股份有限公司卡房分公司，云南 个旧 661000
3.天河道云（北京）科技有限公司，北京 100176
作者简介 About authors
为了精确获取地下巷道的结构面信息，基于三维激光扫描技术，开展地下矿山巷道岩体结构面探测及识别研究。阐述了三维激光扫描系统及其原理、点云数据收集与处理、结构面信息提取的工作流程，并在云南锡业股份有限公司卡房分公司大白岩区域Ⅰ-51#矿群的1 430 m、1 440 m和1 450 m水平主巷道开展了三维激光扫描与结构面信息提取，最后将传统测量手段与三维激光扫描测量方式所获取的结构面数据进行对比分析。结果表明：在地下矿山巷道中，相比传统测量手段，三维激光扫描测量方式所获取的结构面数据更丰富、全面且准确。三维激光扫描技术可为地下矿山巷道岩体结构面工程调查提供一种高效、精确的测量手段。
关键词：地下矿山;岩体结构;三维激光扫描技术;点云数据;结构面测量
In the mining process of underground mines，the work of engineering geological investigation of the roadway is the necessarily for the rock mass stability evaluation. Through the mapped geometric parameters of the structural plane，a computer program was used to establish a three-dimensional model of the structural plane and the underground roadway to analyze the structural characteristics of rock mass. However，due to the complex rock mass conditions of the underground roadway，the limited exposure and variability of rock face orientation in roadways must be taken into account. Traditional methods for the mapping of structural planes such as scan-line mapping and window mapping are restricted by the complex environment of underground engineering that cannot be obtained accurate data. This would result in insufficient quantity and poor quality of the obtained structural plane data，which makes it impossible to accurately analyze the structural characteristics of rock mass in underground roadway. In order to accurately obtain the structural plane information of the underground roadway，3D laser scanning technology was used to research on the detection and identification of rock mass structural planes in underground mine. The work flow of the 3D laser scanning system and its principle，point cloud data processing，and structure plane information extraction was explained. Then，the 3D laser scanning and structural plane information extraction were carried out at the roadways of 1 430 m level，1 440 m level and 1 450 m level of the Dabaiyan area Ⅰ-51# ore cluster of Kafang Branch of Yunnan Tin Co.，Ltd. Finally，the structural plane data obtained by the traditional measurement methods and the 3D laser scanning measurement were compared and analyzed. The results show that the structural plane data obtained by the 3D laser scanning measurement method in underground mine is more abundant，comprehensive and accurate than traditional measurement methods. Using the characteristics of fast 3D laser scanning operation speed and wide scanning range can greatly reduce the working time of surveying personnel in the harsh environment of underground roadway，thereby improving the work efficiency of surveying personnel and ensuring work safety. In addition，the virtual point cloud data of the structural plane obtained by the 3D laser scanning can be directly generated by the post-processing software to directly generate the 3D model of the structural plane，thereby quickly interacting with other rock mass structure analysis software，reducing repeated modeling steps.3D laser scanning technology can provide an efficient method for the engineering geological investigation of rock mass structural plane in underground mine.
Keywords：underground mine;rock mass structure;3D laser scanning technology;point cloud data;structural plane measurement
本文引用格式
图1三维激光扫描系统（a）及其原理（b）
Fig.13D laser scanning system（a）and its principle（b）
在扫描作业中，仪器内置的数码相机可对扫描物体表面进行实时的摄影成像，配合点云数据的表面重构，能够更好地展现被扫描物体的真实表面信息。由于井下无GPS信号，内置罗盘可帮助仪器识别正北方向，并构建以自身为原点的局部三维坐标系，从而计算所获取点云数据的三维坐标。
图2点云数据采集与处理流程
Fig.2Procedure of point cloud data acquisition and processing
图3结构面识别与几何信息提取
（a）、（c）、（e）为巷道近景影像；（b）、（d）、（f）为巷道点云模型
Fig.3Structural plane recognition and geometric information extraction
大白岩生产区是云南锡业股份有限公司卡房分公司重要的单铜资源生产基地，其中Ⅰ-51#矿群是大白岩区域内一个典型的矿体。该矿床属于与花岗岩热动力有关的接触带矽卡岩铜锡硫化矿床，矿石致密坚硬，稳固性好，由于地压与围岩热环境的影响，矿体围岩的不连续面较为发育。
图4Ⅰ-51#矿群及巷道模型
Fig.4Model of Ⅰ-51# ore cluster and roadways
图5三维激光扫描仪架设站点示意图
Fig.5Schematic of 3D laser scanner erection site
图61 430 m水平巷道点云模型（a）和三维重构模型（b）
Fig.6Point cloud model（a）and 3D reconstruction model（b）of 1 430 m level roadway
图71 430 m水平巷道结构面统计分组
Fig.7Structural plane statistics grouping of 1 430 m level roadway
表1优势结构面统计
Table 1 Statistics of dominant structure plane
1 430 m水平
巷道
1 440 m水平
巷道
1 450 m水平
巷道
图8巷道与结构面三维耦合模型
（a）巷道外部；（b）巷道内部
Fig.83D coupling model of roadway and structural plane
图9传统的工程地质调查作业
Fig.9Traditional engineering geological survey work
图10传统测线法所获取的结构面数据
Fig.10Structural plane data obtained by traditional scanline method
（1）三维激光扫描技术能够很好地适应地下矿山高粉尘、高温和高湿等复杂环境，对架设站点的工作环境和仪器架设姿态要求不高，且高密度的点云数据完全满足地下矿山的精度需求，在地下矿山实际生产中具有良好的推广应用价值。
（3）通过计算机算法与人工操作配合即可完成结构面的自动识别和几何信息提取，无需用地质罗盘逐一测量并记录结构面信息。与传统工程调查结果相比，三维激光扫描所获取的结构面数据更可靠且精度更高，现场测量时工作人员可重点关注结构面的填充性质、力学性质和地学成因等信息，为岩体结构分析提供更准确的依据。
（4）在大白岩区域Ⅰ-51#矿群的1 430 m、1 440 m和1 450 m水平巷道分别识别出4组、2组和2组优势结构面，其中1 430 m水平巷道结构面较为发育，应在后续的开采过程中加强该巷道围岩的监测与支护。
（5）相比传统的结构面测量手段，基于三维激光扫描技术的结构面测量方式可对巷道的顶板区域进行结构面数据的收集，所获取的结构面数据量能够更全面地反映巷道真实的岩体结构。
Continuum and discontinuum modelling in tunnel engineering
The Structural Information and Deformation Monitoring of Rock Slope Based on 3D Laser Scanning Technology
Rapid mapping and analysing rock mass discontinuities with 3D terrestrial laser scanning in the underground excavation
Application of 3D laser scanning technology in geological survey of high and steep slopes
Integration of three-dimensional laser scanning with discontinuum modelling for stability analysis of tunnels in blocky rockmasses
Advanced geostructural survey methods applied to rock mass characterization
Automated measurements of discontinuity geometric properties from a 3D-point cloud based on a modified region growing algorithm
Evaluation for deposit areas of rock avalanche based on features of rock mass structure
Intelligent identification and extraction of geometric properties of rock discontinuities based on terrestrial laser scanning
Application of three-dimensional laser scanning system in the identification of rock mass structural plane
Extraction of rock mass structural plane information based on 3D laser scanning
Optimization of LiDAR scanning and processing for automated structural evaluation of discontinuities in rock masses
Bias correction for view-limited lidar scanning of rock outcrops for structural characterization
Automatic characterization of rock mass discontinuities using 3D point clouds
Fully automatic fuzzy cluster analysis and geometric information acquisition of rock mass structural plane based on laser point cloud data
Application of mobile 3D laser scanning technology in deformation monitoring of subway tunnels
Verification of a 3-D lidar viewer for discontinuity orientations
Geometric method of rock mass stability analysis
Finite element analysis of jointed rock slope based on LiDAR technology
Close-range terrestrial digital photogrammetry and terrestrial laser scanning for discontinuity characterization on rock cuts
Testing technology and application of laser scanning tunnel deformation and rock structure plane
Monitoring method of tunnel deformation near blasting construction based on 3D laser scanning technology